Misc: add sensable phantom driver
Add sensable phantom driver Signed-off-by: Jiri Slaby <jirislaby@gmail.com> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
This commit is contained in:
Jiri Slaby
Linus Torvalds
parent
6f7f02e78a
commit
cef2cf0727
7 changed files with 523 additions and 1 deletions
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@ -138,7 +138,8 @@ Code Seq# Include File Comments
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'm' 00-1F net/irda/irmod.h conflict!
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'n' 00-7F linux/ncp_fs.h
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'n' E0-FF video/matrox.h matroxfb
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'p' 00-3F linux/mc146818rtc.h
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'p' 00-0F linux/phantom.h conflict! (OpenHaptics needs this)
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'p' 00-3F linux/mc146818rtc.h conflict!
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'p' 40-7F linux/nvram.h
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'p' 80-9F user-space parport
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<mailto:tim@cyberelk.net>
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@ -3108,6 +3108,11 @@ L: selinux@tycho.nsa.gov (subscribers-only, general discussion)
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W: http://www.nsa.gov/selinux
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S: Supported
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SENSABLE PHANTOM
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P: Jiri Slaby
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M: jirislaby@gmail.com
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S: Maintained
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SERIAL ATA (SATA) SUBSYSTEM:
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P: Jeff Garzik
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M: jgarzik@pobox.com
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@ -25,6 +25,15 @@ config IBM_ASM
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information on the specific driver level and support statement
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for your IBM server.
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config PHANTOM
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tristate "Sensable PHANToM"
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depends on PCI
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help
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Say Y here if you want to build a driver for Sensable PHANToM device.
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If you choose to build module, its name will be phantom. If unsure,
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say N here.
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If unsure, say N.
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@ -11,6 +11,7 @@ obj-$(CONFIG_BLINK) += blink.o
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obj-$(CONFIG_LKDTM) += lkdtm.o
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obj-$(CONFIG_TIFM_CORE) += tifm_core.o
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obj-$(CONFIG_TIFM_7XX1) += tifm_7xx1.o
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obj-$(CONFIG_PHANTOM) += phantom.o
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obj-$(CONFIG_SGI_IOC4) += ioc4.o
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obj-$(CONFIG_SONY_LAPTOP) += sony-laptop.o
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obj-$(CONFIG_THINKPAD_ACPI) += thinkpad_acpi.o
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463
drivers/misc/phantom.c
Normal file
463
drivers/misc/phantom.c
Normal file
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@ -0,0 +1,463 @@
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/*
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* Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* You need an userspace library to cooperate with this driver. It (and other
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* info) may be obtained here:
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* http://www.fi.muni.cz/~xslaby/phantom.html
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*/
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/device.h>
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#include <linux/pci.h>
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#include <linux/fs.h>
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#include <linux/poll.h>
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#include <linux/interrupt.h>
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#include <linux/cdev.h>
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#include <linux/phantom.h>
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#include <asm/atomic.h>
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#include <asm/io.h>
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#define PHANTOM_VERSION "n0.9.5"
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#define PHANTOM_MAX_MINORS 8
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#define PHN_IRQCTL 0x4c /* irq control in caddr space */
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#define PHB_RUNNING 1
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static struct class *phantom_class;
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static int phantom_major;
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struct phantom_device {
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unsigned int opened;
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void __iomem *caddr;
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u32 __iomem *iaddr;
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u32 __iomem *oaddr;
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unsigned long status;
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atomic_t counter;
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wait_queue_head_t wait;
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struct cdev cdev;
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struct mutex open_lock;
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};
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static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
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static int phantom_status(struct phantom_device *dev, unsigned long newstat)
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{
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pr_debug("phantom_status %lx %lx\n", dev->status, newstat);
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if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) {
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atomic_set(&dev->counter, 0);
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iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL);
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iowrite32(0x43, dev->caddr + PHN_IRQCTL);
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} else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING))
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iowrite32(0, dev->caddr + PHN_IRQCTL);
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dev->status = newstat;
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return 0;
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}
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/*
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* File ops
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*/
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static int phantom_ioctl(struct inode *inode, struct file *file, u_int cmd,
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u_long arg)
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{
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struct phantom_device *dev = file->private_data;
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struct phm_regs rs;
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struct phm_reg r;
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void __user *argp = (void __user *)arg;
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unsigned int i;
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if (_IOC_TYPE(cmd) != PH_IOC_MAGIC ||
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_IOC_NR(cmd) > PH_IOC_MAXNR)
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return -ENOTTY;
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switch (cmd) {
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case PHN_SET_REG:
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if (copy_from_user(&r, argp, sizeof(r)))
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return -EFAULT;
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if (r.reg > 7)
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return -EINVAL;
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if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) &&
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phantom_status(dev, dev->status | PHB_RUNNING))
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return -ENODEV;
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pr_debug("phantom: writing %x to %u\n", r.value, r.reg);
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iowrite32(r.value, dev->iaddr + r.reg);
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if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ))
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phantom_status(dev, dev->status & ~PHB_RUNNING);
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break;
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case PHN_SET_REGS:
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if (copy_from_user(&rs, argp, sizeof(rs)))
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return -EFAULT;
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pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask);
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for (i = 0; i < min(rs.count, 8U); i++)
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if ((1 << i) & rs.mask)
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iowrite32(rs.values[i], dev->oaddr + i);
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break;
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case PHN_GET_REG:
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if (copy_from_user(&r, argp, sizeof(r)))
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return -EFAULT;
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if (r.reg > 7)
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return -EINVAL;
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r.value = ioread32(dev->iaddr + r.reg);
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if (copy_to_user(argp, &r, sizeof(r)))
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return -EFAULT;
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break;
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case PHN_GET_REGS:
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if (copy_from_user(&rs, argp, sizeof(rs)))
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return -EFAULT;
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pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);
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for (i = 0; i < min(rs.count, 8U); i++)
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if ((1 << i) & rs.mask)
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rs.values[i] = ioread32(dev->iaddr + i);
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if (copy_to_user(argp, &rs, sizeof(rs)))
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return -EFAULT;
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break;
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default:
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return -ENOTTY;
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}
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return 0;
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}
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static int phantom_open(struct inode *inode, struct file *file)
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{
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struct phantom_device *dev = container_of(inode->i_cdev,
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struct phantom_device, cdev);
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nonseekable_open(inode, file);
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if (mutex_lock_interruptible(&dev->open_lock))
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return -ERESTARTSYS;
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if (dev->opened) {
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mutex_unlock(&dev->open_lock);
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return -EINVAL;
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}
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file->private_data = dev;
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dev->opened++;
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mutex_unlock(&dev->open_lock);
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return 0;
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}
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static int phantom_release(struct inode *inode, struct file *file)
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{
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struct phantom_device *dev = file->private_data;
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mutex_lock(&dev->open_lock);
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dev->opened = 0;
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phantom_status(dev, dev->status & ~PHB_RUNNING);
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mutex_unlock(&dev->open_lock);
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return 0;
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}
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static unsigned int phantom_poll(struct file *file, poll_table *wait)
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{
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struct phantom_device *dev = file->private_data;
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unsigned int mask = 0;
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pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
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poll_wait(file, &dev->wait, wait);
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if (atomic_read(&dev->counter)) {
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mask = POLLIN | POLLRDNORM;
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atomic_dec(&dev->counter);
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} else if ((dev->status & PHB_RUNNING) == 0)
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mask = POLLIN | POLLRDNORM | POLLERR;
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pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
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return mask;
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}
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static struct file_operations phantom_file_ops = {
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.open = phantom_open,
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.release = phantom_release,
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.ioctl = phantom_ioctl,
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.poll = phantom_poll,
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};
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static irqreturn_t phantom_isr(int irq, void *data)
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{
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struct phantom_device *dev = data;
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if (!(ioread32(dev->iaddr + PHN_CONTROL) & PHN_CTL_IRQ))
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return IRQ_NONE;
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iowrite32(0, dev->iaddr);
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iowrite32(0xc0, dev->iaddr);
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atomic_inc(&dev->counter);
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wake_up_interruptible(&dev->wait);
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return IRQ_HANDLED;
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}
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/*
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* Init and deinit driver
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*/
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static unsigned int __devinit phantom_get_free(void)
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{
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unsigned int i;
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for (i = 0; i < PHANTOM_MAX_MINORS; i++)
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if (phantom_devices[i] == 0)
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break;
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return i;
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}
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static int __devinit phantom_probe(struct pci_dev *pdev,
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const struct pci_device_id *pci_id)
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{
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struct phantom_device *pht;
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unsigned int minor;
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int retval;
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retval = pci_enable_device(pdev);
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if (retval)
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goto err;
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minor = phantom_get_free();
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if (minor == PHANTOM_MAX_MINORS) {
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dev_err(&pdev->dev, "too many devices found!\n");
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retval = -EIO;
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goto err_dis;
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}
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phantom_devices[minor] = 1;
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retval = pci_request_regions(pdev, "phantom");
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if (retval)
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goto err_null;
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retval = -ENOMEM;
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pht = kzalloc(sizeof(*pht), GFP_KERNEL);
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if (pht == NULL) {
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dev_err(&pdev->dev, "unable to allocate device\n");
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goto err_reg;
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}
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pht->caddr = pci_iomap(pdev, 0, 0);
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if (pht->caddr == NULL) {
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dev_err(&pdev->dev, "can't remap conf space\n");
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goto err_fr;
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}
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pht->iaddr = pci_iomap(pdev, 2, 0);
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if (pht->iaddr == NULL) {
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dev_err(&pdev->dev, "can't remap input space\n");
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goto err_unmc;
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}
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pht->oaddr = pci_iomap(pdev, 3, 0);
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if (pht->oaddr == NULL) {
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dev_err(&pdev->dev, "can't remap output space\n");
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goto err_unmi;
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}
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mutex_init(&pht->open_lock);
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init_waitqueue_head(&pht->wait);
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cdev_init(&pht->cdev, &phantom_file_ops);
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pht->cdev.owner = THIS_MODULE;
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iowrite32(0, pht->caddr + PHN_IRQCTL);
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retval = request_irq(pdev->irq, phantom_isr,
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IRQF_SHARED | IRQF_DISABLED, "phantom", pht);
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if (retval) {
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dev_err(&pdev->dev, "can't establish ISR\n");
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goto err_unmo;
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}
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retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
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if (retval) {
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dev_err(&pdev->dev, "chardev registration failed\n");
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goto err_irq;
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}
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if (IS_ERR(device_create(phantom_class, &pdev->dev, MKDEV(phantom_major,
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minor), "phantom%u", minor)))
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dev_err(&pdev->dev, "can't create device\n");
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pci_set_drvdata(pdev, pht);
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return 0;
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err_irq:
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free_irq(pdev->irq, pht);
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err_unmo:
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pci_iounmap(pdev, pht->oaddr);
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err_unmi:
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pci_iounmap(pdev, pht->iaddr);
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err_unmc:
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pci_iounmap(pdev, pht->caddr);
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err_fr:
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kfree(pht);
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err_reg:
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pci_release_regions(pdev);
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err_null:
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phantom_devices[minor] = 0;
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err_dis:
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pci_disable_device(pdev);
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err:
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return retval;
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}
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static void __devexit phantom_remove(struct pci_dev *pdev)
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{
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struct phantom_device *pht = pci_get_drvdata(pdev);
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unsigned int minor = MINOR(pht->cdev.dev);
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device_destroy(phantom_class, MKDEV(phantom_major, minor));
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cdev_del(&pht->cdev);
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iowrite32(0, pht->caddr + PHN_IRQCTL);
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free_irq(pdev->irq, pht);
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pci_iounmap(pdev, pht->oaddr);
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pci_iounmap(pdev, pht->iaddr);
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pci_iounmap(pdev, pht->caddr);
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kfree(pht);
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pci_release_regions(pdev);
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phantom_devices[minor] = 0;
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pci_disable_device(pdev);
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}
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#ifdef CONFIG_PM
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static int phantom_suspend(struct pci_dev *pdev, pm_message_t state)
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{
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struct phantom_device *dev = pci_get_drvdata(pdev);
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iowrite32(0, dev->caddr + PHN_IRQCTL);
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return 0;
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}
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static int phantom_resume(struct pci_dev *pdev)
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{
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struct phantom_device *dev = pci_get_drvdata(pdev);
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iowrite32(0, dev->caddr + PHN_IRQCTL);
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return 0;
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}
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#else
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#define phantom_suspend NULL
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#define phantom_resume NULL
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#endif
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static struct pci_device_id phantom_pci_tbl[] __devinitdata = {
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{ PCI_DEVICE(PCI_VENDOR_ID_PLX, PCI_DEVICE_ID_PLX_9050),
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.class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 },
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{ 0, }
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};
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MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
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static struct pci_driver phantom_pci_driver = {
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.name = "phantom",
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.id_table = phantom_pci_tbl,
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.probe = phantom_probe,
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.remove = __devexit_p(phantom_remove),
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.suspend = phantom_suspend,
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.resume = phantom_resume
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};
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static ssize_t phantom_show_version(struct class *cls, char *buf)
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{
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return sprintf(buf, PHANTOM_VERSION "\n");
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}
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static CLASS_ATTR(version, 0444, phantom_show_version, NULL);
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static int __init phantom_init(void)
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{
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int retval;
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dev_t dev;
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phantom_class = class_create(THIS_MODULE, "phantom");
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if (IS_ERR(phantom_class)) {
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retval = PTR_ERR(phantom_class);
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printk(KERN_ERR "phantom: can't register phantom class\n");
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goto err;
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}
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retval = class_create_file(phantom_class, &class_attr_version);
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if (retval) {
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printk(KERN_ERR "phantom: can't create sysfs version file\n");
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goto err_class;
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}
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retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom");
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if (retval) {
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printk(KERN_ERR "phantom: can't register character device\n");
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goto err_attr;
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}
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phantom_major = MAJOR(dev);
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retval = pci_register_driver(&phantom_pci_driver);
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if (retval) {
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printk(KERN_ERR "phantom: can't register pci driver\n");
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goto err_unchr;
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}
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printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", "
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"init OK\n");
|
||||
|
||||
return 0;
|
||||
err_unchr:
|
||||
unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
|
||||
err_attr:
|
||||
class_remove_file(phantom_class, &class_attr_version);
|
||||
err_class:
|
||||
class_destroy(phantom_class);
|
||||
err:
|
||||
return retval;
|
||||
}
|
||||
|
||||
static void __exit phantom_exit(void)
|
||||
{
|
||||
pci_unregister_driver(&phantom_pci_driver);
|
||||
|
||||
unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS);
|
||||
|
||||
class_remove_file(phantom_class, &class_attr_version);
|
||||
class_destroy(phantom_class);
|
||||
|
||||
pr_debug("phantom: module successfully removed\n");
|
||||
}
|
||||
|
||||
module_init(phantom_init);
|
||||
module_exit(phantom_exit);
|
||||
|
||||
MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
|
||||
MODULE_DESCRIPTION("Sensable Phantom driver");
|
||||
MODULE_LICENSE("GPL");
|
||||
MODULE_VERSION(PHANTOM_VERSION);
|
||||
|
|
@ -121,6 +121,7 @@ header-y += pci_regs.h
|
|||
header-y += personality.h
|
||||
header-y += pfkeyv2.h
|
||||
header-y += pg.h
|
||||
header-y += phantom.h
|
||||
header-y += pkt_cls.h
|
||||
header-y += pkt_sched.h
|
||||
header-y += posix_types.h
|
||||
|
|
|
|||
42
include/linux/phantom.h
Normal file
42
include/linux/phantom.h
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
/*
|
||||
* Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*/
|
||||
|
||||
#ifndef __PHANTOM_H
|
||||
#define __PHANTOM_H
|
||||
|
||||
#include <asm/types.h>
|
||||
|
||||
/* PHN_(G/S)ET_REG param */
|
||||
struct phm_reg {
|
||||
__u32 reg;
|
||||
__u32 value;
|
||||
};
|
||||
|
||||
/* PHN_(G/S)ET_REGS param */
|
||||
struct phm_regs {
|
||||
__u32 count;
|
||||
__u32 mask;
|
||||
__u32 values[8];
|
||||
};
|
||||
|
||||
#define PH_IOC_MAGIC 'p'
|
||||
#define PHN_GET_REG _IOWR(PH_IOC_MAGIC, 0, struct phm_reg *)
|
||||
#define PHN_SET_REG _IOW (PH_IOC_MAGIC, 1, struct phm_reg *)
|
||||
#define PHN_GET_REGS _IOWR(PH_IOC_MAGIC, 2, struct phm_regs *)
|
||||
#define PHN_SET_REGS _IOW (PH_IOC_MAGIC, 3, struct phm_regs *)
|
||||
#define PH_IOC_MAXNR 3
|
||||
|
||||
#define PHN_CONTROL 0x6 /* control byte in iaddr space */
|
||||
#define PHN_CTL_AMP 0x1 /* switch after torques change */
|
||||
#define PHN_CTL_BUT 0x2 /* is button switched */
|
||||
#define PHN_CTL_IRQ 0x10 /* is irq enabled */
|
||||
|
||||
#define PHN_ZERO_FORCE 2048 /* zero torque on motor */
|
||||
|
||||
#endif
|
||||
Loading…
Reference in a new issue